多电机同步控制论文.doc

摘 要 随着近年来传动系统的发展，多电机传动已被越来越广泛地应用于各种领域中。为了提高多电机传动系统的动态和稳态性能，以及满足一些特定系统对于多电机精确同步的要求，多电机同步控制方法的研究也变得越来越重要。一个优秀的同步控制方法要兼顾系统的各个方面，因此同步控制方法的研究要深入到速度和力矩的双重同步，它的成功研究可以应用到军事、航空以及一般工业技术领域中，为需要统一动作功能的多台电机提供协调控制技术。 在多电机同步控制中，各电机之间实时的数据通信是很重要的。为了满足这个要求，检测每个电机的速度和电流（即力矩）数据以及传送指令都需要大量复杂的数据信号线。因此传统的通信技术可能因为接线复杂、噪音以及数据线的维护而降低系统的可靠性，增加成本。为了解决这个问题，本文提出了一种基于PROFIBUS-DP总线通信的多电机同步控制系统模型。因为PROFIBUS-DP总线的特点，使得系统接线简单，易于修改和完善，并且可以达到系统对于实时性和稳定性的要求。 在这个系统中，电机速度和力矩的精确同步是最关键的，根据这一特殊要求，提出了智能控制算法，针对多电机同步控制的特点选择了神经网络控制，并对建立了通用的系统，最后通过舞阳钢厂的全数字钳式吊改造的实例应用进一步的诠释了这套系统。 关键词: PROFIBUS-DP总线,，智能控制，同步，神经网络 Abstract Multiple motors have been used for driving systems widely in recent years to meet the increased requirement of driving systems. In order to improve the dynamic and static performances, and to increase the load ability of the system, the problem of synchronized drive of multiple motors must be taken seriously, thus, the synchronized control of multiple motors is very important. A successful synchronized control scheme must control both the speed and the moment .In this sense, synchronization refers to controlling current and velocities of the motors relative to each other so that they remain well-coordinated. In case of synchronization for multiple motors, the real time data communication is necessary. In order to satisfy this requirement, the complex signal lines are usually used to detect the speed and current of each motor and to command the desired speed and moment. Such a traditional implementation technique induces many problems in the view of reliability and economy because of the amount and complexity of wiring, noise and maintenance problems, etc. In order to remove these problems, a simple synchronization system with the aid of serial communication using PROFIBUS-DP is proposed in this paper. In this case, inflexible and expensive special wiring is not necessary. Furthermore, the system can be modified in terms of network nodes without changing the wiring. In this system ,the most impor